Analysis of Actuation for a Spherical Robot

Abstract

In this paper, we present a spherical robot, which is steered and actuated through a counter-weight pendulum attached at a gimbal, a steer motor and a drive motor. The drive motor, linking gimbal and outer shell, generates the driving torque about the lateral rotation axis of the gimbal. The steer motor, located at the longitudinal axis of the gimbal… (More)
DOI: 10.1109/RAMECH.2008.4681363

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